On Not Losing Track
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This paper uses tracking time as an explicit objective in designing tracking algorithms that function in clutter. Implications of using "time to the first mistake" as a measure of tracking time are explored. An optimal tracker is derived for a special circukstance where there is clutter, but no measurement error, and is compared to a tracker based on the Maximum Likelihood principle.
IEEE Transactions on Automatic Control, Vol. 35, 1990, pp. 852-855.